diff --git a/talos_bringup/config/approach_planner_full.yaml b/talos_bringup/config/approach_planner_full.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bd16ad48a67b9298b5f2023186353203079c14ec
--- /dev/null
+++ b/talos_bringup/config/approach_planner_full.yaml
@@ -0,0 +1,14 @@
+approach_planner:
+  planning_groups: # Sorted by order of preference
+    - left_arm
+    - right_arm
+    - torso
+    - both_arms_torso
+
+  exclude_from_planning_joints:
+    - head_1_joint
+    - head_2_joint
+
+  joint_tolerance: 0.01
+  skip_planning_approach_vel: 0.5
+  skip_planning_approach_min_dur: 0.5
diff --git a/talos_bringup/launch/play_motion.launch b/talos_bringup/launch/play_motion.launch
index 50c594af7753eeb8350ee25749fa40a5c0e9eff9..19cc5259a443d4721655b652a8eacf523764ed2d 100644
--- a/talos_bringup/launch/play_motion.launch
+++ b/talos_bringup/launch/play_motion.launch
@@ -1,12 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
 
 <launch>
-  <arg name="robot" default="full_ft_hey5"/>
 
   <!-- execute pre-recorded motions -->
-  <node pkg="talos_bringup" type="motions_loader.py" name="motions_loader" args="robot=$(arg robot)"/>
+  <rosparam file="$(find talos_bringup)/config/talos_motions.yaml" command="load" />
+  
   <node pkg="play_motion" type="play_motion" name="play_motion">
-    <rosparam file="$(find talos_bringup)/config/approach_planner_$(arg robot).yaml" command="load" />
+    <rosparam file="$(find talos_bringup)/config/approach_planner_full.yaml" command="load" />
   </node>
+  
   <node pkg="play_motion" type="is_already_there.py" name="is_already_there" />
+  
 </launch>
diff --git a/talos_bringup/launch/talos_bringup.launch b/talos_bringup/launch/talos_bringup.launch
index f050b0bec964374f8cfd7fdf7cc8e25b631b2805..1dad8eafbdba2ebd704c47d2dc3560b37d205351 100644
--- a/talos_bringup/launch/talos_bringup.launch
+++ b/talos_bringup/launch/talos_bringup.launch
@@ -26,4 +26,7 @@
   
   <include file="$(find talos_moveit_config)/launch/move_group.launch" />
   
+    <!-- Pre-recorded motions executor -->
+  <include file="$(find talos_bringup)/launch/play_motion.launch" />
+
 </launch>